Design of Multi-vehicle Cooperative Handling Control System Based on Virtual Chassis

Abstract

This paper proposes a multi-vehicle cooperative virtual chassis solution control method for the design requirements of multi-vehicle cooperative handling control system. Firstly, the cooperative control instruction is decomposed into the speed and rotation instruction of 12 wheels by establishing the cooperative relative coordinate system. Secondly, the simulation model is established and the operation cooperative control command is simulated to realize the combined working conditions of three vehicles cooperative forward, turn and spot turn. Thirdly, the interference signals are added into the simulation to analyze the control accuracy of the cooperative control algorithm. Finally, the simulation results verify that the relative position of each vehicles is kept unchanged in the process of multi-vehicle movement, which proves that the cooperative control algorithm has good cooperative control accuracy, it can satisfy the design requirements of multi-vehicle cooperative control system.